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   &#160;<span id="projectnumber">2.9.4</span>
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<a href="#pub-types">Public Types</a> &#124;
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<p>Receives sonar data from an MTX robot Use <a class="el" href="classArSonarConnector.html" title="Connect to sonar based on robot parameters and command-line arguments. ">ArSonarConnector</a> to establish the connection and create and initiate the <a class="el" href="classArSonarMTX.html" title="Receives sonar data from an MTX robot Use ArSonarConnector to establish the connection and create and...">ArSonarMTX</a> thread.  
 <a href="classArSonarMTX.html#details">More...</a></p>

<p><code>#include &lt;ArSonarMTX.h&gt;</code></p>

<p>Inherits <a class="el" href="classArASyncTask.html">ArASyncTask</a>.</p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a4aecead09a0799ae030fdaf96301ff35"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4aecead09a0799ae030fdaf96301ff35"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>Headers</b> { <b>HEADER1</b> =0xfa, 
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<tr class="separator:a4aecead09a0799ae030fdaf96301ff35"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_types_classArThread"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classArThread')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classArThread.html">ArThread</a></td></tr>
<tr class="memitem:ad165ffa091e34f6215c73d36aca9b4b2 inherit pub_types_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad165ffa091e34f6215c73d36aca9b4b2"></a>
typedef std::map&lt; ThreadType, <a class="el" href="classArThread.html">ArThread</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>MapType</b></td></tr>
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<tr class="memitem:af6d126a960a5af55f2ab3e05233e8b53 inherit pub_types_classArThread"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#af6d126a960a5af55f2ab3e05233e8b53">Status</a> { <br />
&#160;&#160;<a class="el" href="classArThread.html#af6d126a960a5af55f2ab3e05233e8b53acc18d305d0eccadd2588c4b42f5f94b5">STATUS_FAILED</a> =1, 
<a class="el" href="classArThread.html#af6d126a960a5af55f2ab3e05233e8b53a3a691b0c508247f05b57fdcdf26bcbcf">STATUS_NORESOURCE</a>, 
<a class="el" href="classArThread.html#af6d126a960a5af55f2ab3e05233e8b53afb6a6a19ac7e5eae84ca230f90a577c1">STATUS_NO_SUCH_THREAD</a>, 
<a class="el" href="classArThread.html#af6d126a960a5af55f2ab3e05233e8b53a8cabd345d26c252559a993ba7d4db196">STATUS_INVALID</a>, 
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&#160;&#160;<a class="el" href="classArThread.html#af6d126a960a5af55f2ab3e05233e8b53aa12716ae2e87670197b81ece3dbca9ea">STATUS_JOIN_SELF</a>, 
<a class="el" href="classArThread.html#af6d126a960a5af55f2ab3e05233e8b53ac31e3677374b5ae653026a3be95c6274">STATUS_ALREADY_DETATCHED</a>
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typedef pthread_t&#160;</td><td class="memItemRight" valign="bottom"><b>ThreadType</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a3ae7a9e283901ac20bd32a1a4f3aad57">addDisconnectOnErrorCB</a> (<a class="el" href="classArFunctor.html">ArFunctor</a> *functor, int position=51)</td></tr>
<tr class="memdesc:a3ae7a9e283901ac20bd32a1a4f3aad57"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds a callback for when disconnection happens because of an error. <br /></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a0ac8a3f6500c9c3840d8fe9472fbf50e">ArSonarMTX</a> (int sonarBoardNum=0, const char *name=&quot;MTXSonar&quot;, ArDeviceConnection *conn=NULL, <a class="el" href="classArRobot.html">ArRobot</a> *robot=NULL)</td></tr>
<tr class="memdesc:a0ac8a3f6500c9c3840d8fe9472fbf50e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:a0aa2c634b4c771855111bd136400ab28"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a0aa2c634b4c771855111bd136400ab28">blockingConnect</a> (bool sendTracking, bool recvTracking)</td></tr>
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<tr class="memitem:a4f160d8ccd8e81cc0f86fa15b0a8fb2b"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a4f160d8ccd8e81cc0f86fa15b0a8fb2b">checkLostConnection</a> (void)</td></tr>
<tr class="memdesc:a4f160d8ccd8e81cc0f86fa15b0a8fb2b"><td class="mdescLeft">&#160;</td><td class="mdescRight">check for lost connections  <a href="#a4f160d8ccd8e81cc0f86fa15b0a8fb2b">More...</a><br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>disableForAutonomousDriving</b> ()</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>disconnect</b> (void)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a56b46de3f0b400e6ee6c525cbaa6c2b6">disconnectOnError</a> (void)</td></tr>
<tr class="memdesc:a56b46de3f0b400e6ee6c525cbaa6c2b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">disconnect <br /></td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#ab56a9dc5352d0960df07b88573f7575f">fakeConnect</a> ()</td></tr>
<tr class="memdesc:ab56a9dc5352d0960df07b88573f7575f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Connect used for debug replay. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#ae0cbc9a4da30552d345134bb4d894564">getBoardDelay</a> (void) const </td></tr>
<tr class="memdesc:ae0cbc9a4da30552d345134bb4d894564"><td class="mdescLeft">&#160;</td><td class="mdescRight">Board Delay. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getBoardDetectionThreshold</b> (void) const </td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getBoardGain</b> (void) const </td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getBoardMaxRange</b> (void) const </td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getBoardNum</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>getBoardUseForAutonomousDriving</b> (void) const </td></tr>
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virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a2f48ad508410127fb7b7eea919e9a251">getConnectionTimeoutSeconds</a> (void)</td></tr>
<tr class="memdesc:a2f48ad508410127fb7b7eea919e9a251"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the number of seconds without a response until connection assumed lost. <br /></td></tr>
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const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a0910bc1a9eb41a9643fe6abf2cc20810">getDefaultPortType</a> (void)</td></tr>
<tr class="memdesc:a0910bc1a9eb41a9643fe6abf2cc20810"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the default port type for the sonar. <br /></td></tr>
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const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a49d4a5468fe94fd15308f56b3c266161">getDefaultTcpPort</a> (void)</td></tr>
<tr class="memdesc:a49d4a5468fe94fd15308f56b3c266161"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the default port type for the sonar. <br /></td></tr>
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<a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#ae83566cde3d72d64f6f2a969291b74cf">getDeviceConnection</a> (void)</td></tr>
<tr class="memdesc:ae83566cde3d72d64f6f2a969291b74cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the device this instance receives packets from. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getFirmwareVersion</b> (void) const </td></tr>
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<a class="el" href="classArTime.html">ArTime</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a77447dc87423d0d8d70d3c9c2b39506d">getLastReadingTime</a> (void)</td></tr>
<tr class="memdesc:a77447dc87423d0d8d70d3c9c2b39506d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the time data was last receieved. <br /></td></tr>
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virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><b>getName</b> (void) const </td></tr>
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virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><b>getNameWithBoard</b> (void) const </td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a1c06ae4f9bd1e141bb8d5dd9577cb352">getNumConfiguredTransducers</a> (void) const </td></tr>
<tr class="memdesc:a1c06ae4f9bd1e141bb8d5dd9577cb352"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of Configured Transducers. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#ae3ec8aab10f47267282261cb5b56e741">getNumTransducers</a> (void) const </td></tr>
<tr class="memdesc:ae3ec8aab10f47267282261cb5b56e741"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of Transducers from board query. <br /></td></tr>
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<a class="el" href="classArRobotPacketReceiver.html">ArRobotPacketReceiver</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a7c4287e9ba33b6596e415e392a86c0fc">getPacketReceiver</a> (void)</td></tr>
<tr class="memdesc:a7c4287e9ba33b6596e415e392a86c0fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Very Internal call that gets the packet sender, shouldn't be used. <br /></td></tr>
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<a class="el" href="classArRobotPacketSender.html">ArRobotPacketSender</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a39ddc5bdf80d77cc6d87a9debe37d9d6">getPacketSender</a> (void)</td></tr>
<tr class="memdesc:a39ddc5bdf80d77cc6d87a9debe37d9d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Very Internal call that gets the packet sender, shouldn't be used. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#ac453e3c1524c10e401341ea158d0ebe8">getReadingCount</a> (void)</td></tr>
<tr class="memdesc:ac453e3c1524c10e401341ea158d0ebe8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the number of sonar readings received in the last second. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getUnitDetectionThres</b> (int unit) const </td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getUnitGain</b> (int unit) const </td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getUnitLastReading</b> (int unit) const </td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getUnitMapping</b> (int unit) const </td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getUnitTh</b> (int unit) const </td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getUnitX</b> (int unit) const </td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>getUnitY</b> (int unit) const </td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>internalGotReading</b> (void)</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>isConnected</b> (void)</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>isTryingToConnect</b> (void)</td></tr>
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virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#abacd599c4f479d406deed00f9e460700">lockDevice</a> ()</td></tr>
<tr class="memdesc:abacd599c4f479d406deed00f9e460700"><td class="mdescLeft">&#160;</td><td class="mdescRight">Lock this device. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a9a6e0752f037883ca179f46ed9387817">log</a> (void)</td></tr>
<tr class="memdesc:a9a6e0752f037883ca179f46ed9387817"><td class="mdescLeft">&#160;</td><td class="mdescRight">Logs the information about the sensor. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a37215e24849c18e8c482fe30e8ca8a40">remDisconnectOnErrorCB</a> (<a class="el" href="classArFunctor.html">ArFunctor</a> *functor)</td></tr>
<tr class="memdesc:a37215e24849c18e8c482fe30e8ca8a40"><td class="mdescLeft">&#160;</td><td class="mdescRight">Removes a callback for when disconnection happens because of an error. <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a79969067e6c118e35469e5f9429e7add">setConnectionTimeoutSeconds</a> (double seconds)</td></tr>
<tr class="memdesc:a79969067e6c118e35469e5f9429e7add"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the numter of seconds without a response until connection assumed lost. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#af1b896e7b73ba75a0adc243714b8f836">setDeviceConnection</a> (<a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *conn)</td></tr>
<tr class="memdesc:af1b896e7b73ba75a0adc243714b8f836"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the device this instance receives packets from. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setInfoLogLevel</b> (<a class="el" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3">ArLog::LogLevel</a> infoLogLevel)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setPacketsReceivedTracking</b> (bool v=true)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setPacketsSentTracking</b> (bool v=true)</td></tr>
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<tr class="memitem:a90f8c3d6507cf602e0608d740b0a8a54"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a90f8c3d6507cf602e0608d740b0a8a54">setRobot</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
<tr class="memdesc:a90f8c3d6507cf602e0608d740b0a8a54"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the robot pointer, also attaches its process function to the robot as a Sensor Interpretation task.  <a href="#a90f8c3d6507cf602e0608d740b0a8a54">More...</a><br /></td></tr>
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virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#ac2af5b467b5984d20d9fcf63f669c857">tryLockDevice</a> ()</td></tr>
<tr class="memdesc:ac2af5b467b5984d20d9fcf63f669c857"><td class="mdescLeft">&#160;</td><td class="mdescRight">Try to lock this device. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>turnOffTransducers</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>turnOnTransducers</b> ()</td></tr>
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virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a8a47a789f355cbf068d488ebeda09c95">unlockDevice</a> ()</td></tr>
<tr class="memdesc:a8a47a789f355cbf068d488ebeda09c95"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlock this device. <br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArSonarMTX.html#a1bacb3c0f7b912e9a3ad9839ddb01002">~ArSonarMTX</a> ()</td></tr>
<tr class="memdesc:a1bacb3c0f7b912e9a3ad9839ddb01002"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="inherit_header pub_methods_classArASyncTask"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classArASyncTask')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classArASyncTask.html">ArASyncTask</a></td></tr>
<tr class="memitem:a2f8d322b93edf16edd3253692e130480 inherit pub_methods_classArASyncTask"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2f8d322b93edf16edd3253692e130480"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArASyncTask.html#a2f8d322b93edf16edd3253692e130480">ArASyncTask</a> ()</td></tr>
<tr class="memdesc:a2f8d322b93edf16edd3253692e130480 inherit pub_methods_classArASyncTask"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:a1219f8fc48adfc07ab59ea414585c479 inherit pub_methods_classArASyncTask"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1219f8fc48adfc07ab59ea414585c479"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArASyncTask.html#a1219f8fc48adfc07ab59ea414585c479">create</a> (bool joinable=true, bool lowerPriority=true)</td></tr>
<tr class="memdesc:a1219f8fc48adfc07ab59ea414585c479 inherit pub_methods_classArASyncTask"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create the task and start it going. <br /></td></tr>
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<tr class="memitem:acd6307214f0bfdcd9f1c89664b2a7ad1 inherit pub_methods_classArASyncTask"><td class="memItemLeft" align="right" valign="top">virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArASyncTask.html#acd6307214f0bfdcd9f1c89664b2a7ad1">getThreadActivity</a> (void)</td></tr>
<tr class="memdesc:acd6307214f0bfdcd9f1c89664b2a7ad1 inherit pub_methods_classArASyncTask"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets a string that describes what the thread is doing, or NULL if it doesn't know.  <a href="#acd6307214f0bfdcd9f1c89664b2a7ad1">More...</a><br /></td></tr>
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<tr class="memitem:a9da8602419f2c52f001f130fe489b387 inherit pub_methods_classArASyncTask"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArASyncTask.html#a9da8602419f2c52f001f130fe489b387">run</a> (void)</td></tr>
<tr class="memdesc:a9da8602419f2c52f001f130fe489b387 inherit pub_methods_classArASyncTask"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run without creating a new thread.  <a href="#a9da8602419f2c52f001f130fe489b387">More...</a><br /></td></tr>
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<tr class="memitem:a3d9b25fe57d5d4c4a7146827798dcbe0 inherit pub_methods_classArASyncTask"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3d9b25fe57d5d4c4a7146827798dcbe0"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArASyncTask.html#a3d9b25fe57d5d4c4a7146827798dcbe0">runAsync</a> (void)</td></tr>
<tr class="memdesc:a3d9b25fe57d5d4c4a7146827798dcbe0 inherit pub_methods_classArASyncTask"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run in its own thread. <br /></td></tr>
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<tr class="memitem:ab1b9692583669e973fcb70fe843e556f inherit pub_methods_classArASyncTask"><td class="memItemLeft" align="right" valign="top">virtual void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArASyncTask.html#ab1b9692583669e973fcb70fe843e556f">runInThisThread</a> (void *arg=0)</td></tr>
<tr class="memdesc:ab1b9692583669e973fcb70fe843e556f inherit pub_methods_classArASyncTask"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal function used with system threading system to run the new thread.  <a href="#ab1b9692583669e973fcb70fe843e556f">More...</a><br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArASyncTask.html#adb6a00c292ff5aa6e8db8cd9d33747ac">stopRunning</a> (void)</td></tr>
<tr class="memdesc:adb6a00c292ff5aa6e8db8cd9d33747ac inherit pub_methods_classArASyncTask"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stop the thread. <br /></td></tr>
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<tr class="memitem:a9a7a9aafc788b3a03fbaf71a87e1ee44 inherit pub_methods_classArASyncTask"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9a7a9aafc788b3a03fbaf71a87e1ee44"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArASyncTask.html#a9a7a9aafc788b3a03fbaf71a87e1ee44">~ArASyncTask</a> ()</td></tr>
<tr class="memdesc:a9a7a9aafc788b3a03fbaf71a87e1ee44 inherit pub_methods_classArASyncTask"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="inherit_header pub_methods_classArThread"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classArThread')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classArThread.html">ArThread</a></td></tr>
<tr class="memitem:af6646fdb41042a80a0d54c778d1af3d9 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af6646fdb41042a80a0d54c778d1af3d9"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#af6646fdb41042a80a0d54c778d1af3d9">ArThread</a> (bool blockAllSignals=true)</td></tr>
<tr class="memdesc:af6646fdb41042a80a0d54c778d1af3d9 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:aff21160d49a502bfc018d0e2126959aa inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aff21160d49a502bfc018d0e2126959aa"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#aff21160d49a502bfc018d0e2126959aa">ArThread</a> (ThreadType thread, bool joinable, bool blockAllSignals=true)</td></tr>
<tr class="memdesc:aff21160d49a502bfc018d0e2126959aa inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor - starts the thread. <br /></td></tr>
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<tr class="memitem:a08068bcc611a53074d8999a5622f2289 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a08068bcc611a53074d8999a5622f2289"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a08068bcc611a53074d8999a5622f2289">ArThread</a> (<a class="el" href="classArFunctor.html">ArFunctor</a> *func, bool joinable=true, bool blockAllSignals=true)</td></tr>
<tr class="memdesc:a08068bcc611a53074d8999a5622f2289 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor - starts the thread. <br /></td></tr>
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<tr class="memitem:a9f5c6ddc088c46736ce2e698a5ae3050 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9f5c6ddc088c46736ce2e698a5ae3050"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a9f5c6ddc088c46736ce2e698a5ae3050">cancel</a> (void)</td></tr>
<tr class="memdesc:a9f5c6ddc088c46736ce2e698a5ae3050 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Cancel the thread. <br /></td></tr>
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<tr class="memitem:a70f8c5e5a01c432f8e5722487b11b9aa inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a70f8c5e5a01c432f8e5722487b11b9aa"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a70f8c5e5a01c432f8e5722487b11b9aa">detach</a> (void)</td></tr>
<tr class="memdesc:a70f8c5e5a01c432f8e5722487b11b9aa inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Detatch the thread so it cant be joined. <br /></td></tr>
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<tr class="memitem:aa8dc1c54a7c07dc2affdef031a74833e inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa8dc1c54a7c07dc2affdef031a74833e"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#aa8dc1c54a7c07dc2affdef031a74833e">getBlockAllSignals</a> (void)</td></tr>
<tr class="memdesc:aa8dc1c54a7c07dc2affdef031a74833e inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Do we block all process signals at startup? <br /></td></tr>
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<tr class="memitem:acb7ba63e4e43e85f47ff9429de88c599 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acb7ba63e4e43e85f47ff9429de88c599"></a>
virtual <a class="el" href="classArFunctor.html">ArFunctor</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#acb7ba63e4e43e85f47ff9429de88c599">getFunc</a> (void) const </td></tr>
<tr class="memdesc:acb7ba63e4e43e85f47ff9429de88c599 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the functor that the thread runs. <br /></td></tr>
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<tr class="memitem:a48d0856b755e8950d820d71fd097fb0d inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a48d0856b755e8950d820d71fd097fb0d"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a48d0856b755e8950d820d71fd097fb0d">getJoinable</a> (void) const </td></tr>
<tr class="memdesc:a48d0856b755e8950d820d71fd097fb0d inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the joinable status of the thread. <br /></td></tr>
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<tr class="memitem:ad57f4235fd1f9092f55aaec52a57068f inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad57f4235fd1f9092f55aaec52a57068f"></a>
virtual ThreadType&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#ad57f4235fd1f9092f55aaec52a57068f">getOSThread</a> (void) const </td></tr>
<tr class="memdesc:ad57f4235fd1f9092f55aaec52a57068f inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the underlying os thread type. <br /></td></tr>
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<tr class="memitem:a2f9451e6bcebcd4524d86d88732047b5 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2f9451e6bcebcd4524d86d88732047b5"></a>
pid_t&#160;</td><td class="memItemRight" valign="bottom"><b>getPID</b> (void)</td></tr>
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<tr class="memitem:a544461d5afc9a1f1d50398ef06f55743 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a544461d5afc9a1f1d50398ef06f55743"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a544461d5afc9a1f1d50398ef06f55743">getRunning</a> (void) const </td></tr>
<tr class="memdesc:a544461d5afc9a1f1d50398ef06f55743 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the running status of the thread. <br /></td></tr>
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<tr class="memitem:a05333f5f05022f42ab46a6dd8a8f1958 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05333f5f05022f42ab46a6dd8a8f1958"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a05333f5f05022f42ab46a6dd8a8f1958">getRunningWithLock</a> (void)</td></tr>
<tr class="memdesc:a05333f5f05022f42ab46a6dd8a8f1958 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the running status of the thread, locking around the variable. <br /></td></tr>
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<tr class="memitem:a1f17f4a7f59d8e14399e03ee405380be inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1f17f4a7f59d8e14399e03ee405380be"></a>
virtual const ThreadType *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a1f17f4a7f59d8e14399e03ee405380be">getThread</a> (void) const </td></tr>
<tr class="memdesc:a1f17f4a7f59d8e14399e03ee405380be inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the underlying thread type. <br /></td></tr>
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<tr class="memitem:af3c3543b2749dccd4e94e96fad418780 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af3c3543b2749dccd4e94e96fad418780"></a>
virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#af3c3543b2749dccd4e94e96fad418780">getThreadName</a> (void)</td></tr>
<tr class="memdesc:af3c3543b2749dccd4e94e96fad418780 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the name of the thread. <br /></td></tr>
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<tr class="memitem:a2220d1f5e5701a6666038cc4754b7c50 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2220d1f5e5701a6666038cc4754b7c50"></a>
pid_t&#160;</td><td class="memItemRight" valign="bottom"><b>getTID</b> (void)</td></tr>
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<tr class="memitem:af5868982670b17f27aab0bbbf0749cb6 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#af5868982670b17f27aab0bbbf0749cb6">isThreadFinished</a> () const </td></tr>
<tr class="memdesc:af5868982670b17f27aab0bbbf0749cb6 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns whether the thread has been completed and can be deleted.  <a href="#af5868982670b17f27aab0bbbf0749cb6">More...</a><br /></td></tr>
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<tr class="memitem:a38dd0b805242f8144e14c0662eeee37c inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a38dd0b805242f8144e14c0662eeee37c">isThreadStarted</a> () const </td></tr>
<tr class="memdesc:a38dd0b805242f8144e14c0662eeee37c inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns whether the thread has been started.  <a href="#a38dd0b805242f8144e14c0662eeee37c">More...</a><br /></td></tr>
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<tr class="memitem:a4351291f1146bdbc385fc000dfda37a3 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4351291f1146bdbc385fc000dfda37a3"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a4351291f1146bdbc385fc000dfda37a3">join</a> (void **r=NULL)</td></tr>
<tr class="memdesc:a4351291f1146bdbc385fc000dfda37a3 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Join on the thread. <br /></td></tr>
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<tr class="memitem:a0fa936e087d49e5151cb3cc1358ae1ce inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a0fa936e087d49e5151cb3cc1358ae1ce">lock</a> (void)</td></tr>
<tr class="memdesc:a0fa936e087d49e5151cb3cc1358ae1ce inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Lock the thread instance.  <a href="#a0fa936e087d49e5151cb3cc1358ae1ce">More...</a><br /></td></tr>
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<tr class="memitem:ac971ee8ad4b23a5d87e6f0db02062cde inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac971ee8ad4b23a5d87e6f0db02062cde"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#ac971ee8ad4b23a5d87e6f0db02062cde">logThreadInfo</a> (void)</td></tr>
<tr class="memdesc:ac971ee8ad4b23a5d87e6f0db02062cde inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Logs the information about this thread. <br /></td></tr>
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<tr class="memitem:a6eb9bbbff1f1494a4218be4551c28073 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6eb9bbbff1f1494a4218be4551c28073"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a6eb9bbbff1f1494a4218be4551c28073">setRunning</a> (bool running)</td></tr>
<tr class="memdesc:a6eb9bbbff1f1494a4218be4551c28073 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the running value on the thread. <br /></td></tr>
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<tr class="memitem:af03075fb22fbfca1212d524f772f6c1c inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af03075fb22fbfca1212d524f772f6c1c"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#af03075fb22fbfca1212d524f772f6c1c">setThreadName</a> (const char *name)</td></tr>
<tr class="memdesc:af03075fb22fbfca1212d524f772f6c1c inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the name of the thread. <br /></td></tr>
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<tr class="memitem:a718af06ca33f467f714a46f059e2455b inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a718af06ca33f467f714a46f059e2455b">threadFinished</a> (void)</td></tr>
<tr class="memdesc:a718af06ca33f467f714a46f059e2455b inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Marks the thread as finished and logs useful debugging information.  <a href="#a718af06ca33f467f714a46f059e2455b">More...</a><br /></td></tr>
<tr class="separator:a718af06ca33f467f714a46f059e2455b inherit pub_methods_classArThread"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2cec8be019396610a5ba10b6ffcd819e inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a2cec8be019396610a5ba10b6ffcd819e">threadStarted</a> (void)</td></tr>
<tr class="memdesc:a2cec8be019396610a5ba10b6ffcd819e inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Marks the thread as started and logs useful debugging information.  <a href="#a2cec8be019396610a5ba10b6ffcd819e">More...</a><br /></td></tr>
<tr class="separator:a2cec8be019396610a5ba10b6ffcd819e inherit pub_methods_classArThread"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeefc89261e7760985b91566029fc9c6c inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#aeefc89261e7760985b91566029fc9c6c">tryLock</a> (void)</td></tr>
<tr class="memdesc:aeefc89261e7760985b91566029fc9c6c inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Try to lock the thread instance without blocking.  <a href="#aeefc89261e7760985b91566029fc9c6c">More...</a><br /></td></tr>
<tr class="separator:aeefc89261e7760985b91566029fc9c6c inherit pub_methods_classArThread"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa95ba7294af22e4be13215f39de61b38 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#aa95ba7294af22e4be13215f39de61b38">unlock</a> (void)</td></tr>
<tr class="memdesc:aa95ba7294af22e4be13215f39de61b38 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unlock the thread instance.  <a href="#aa95ba7294af22e4be13215f39de61b38">More...</a><br /></td></tr>
<tr class="separator:aa95ba7294af22e4be13215f39de61b38 inherit pub_methods_classArThread"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a02c1f44d7adb2b9524f0fc410158b554 inherit pub_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a02c1f44d7adb2b9524f0fc410158b554"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a02c1f44d7adb2b9524f0fc410158b554">~ArThread</a> ()</td></tr>
<tr class="memdesc:a02c1f44d7adb2b9524f0fc410158b554 inherit pub_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected Types</h2></td></tr>
<tr class="memitem:ad4b1d3a913851276c536b7ea1eea5269"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad4b1d3a913851276c536b7ea1eea5269"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>Commands</b> { <br />
&#160;&#160;<b>ALIVE</b> =0x00, 
<b>START_SCAN</b> =0x01, 
<b>STOP_SCAN</b> =0x02, 
<b>RESET</b> =0x03, 
<br />
&#160;&#160;<b>TAKE_SELF_ECHO</b> =0x04, 
<b>GET_VERSION</b> =0x10, 
<b>GET_NUM_TRANDUCERS</b> =0x11, 
<b>GET_TRANSDUCER_MASK</b> =0x12, 
<br />
&#160;&#160;<b>SET_TRANSDUCER_MASK</b> =0x22, 
<b>GET_SONAR_DELAY</b> =0x13, 
<b>SET_SONAR_DELAY</b> =0x23, 
<b>GET_ECHO_SAMPLE_SIZE</b> =0x14, 
<br />
&#160;&#160;<b>SET_ECHO_SAMPLE_SIZE</b> =0x24, 
<b>GET_GAIN</b> =0x17, 
<b>SET_GAIN</b> =0x27, 
<b>NUM_THRESHOLD_RANGES</b> =0x18, 
<br />
&#160;&#160;<b>GET_THRESHOLDS</b> =0x19, 
<b>SET_THRESHOLDS</b> =0x29, 
<b>GET_NOISE_DELTA</b> =0x1A, 
<b>SET_NOISE_DELTA</b> =0x2A
<br />
 }</td></tr>
<tr class="separator:ad4b1d3a913851276c536b7ea1eea5269"><td class="memSeparator" colspan="2">&#160;</td></tr>
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&#160;&#160;<b>SONAR_IS_CONFIGURED</b>, 
<b>SONAR_MAPPING</b>, 
<b>SONAR_X</b>, 
<b>SONAR_Y</b>, 
<br />
&#160;&#160;<b>SONAR_TH</b>, 
<b>SONAR_GAIN</b>, 
<b>SONAR_DETECTION_THRES</b>, 
<b>SONAR_MAX_RANGE</b>, 
<br />
&#160;&#160;<b>SONAR_USE_FOR_AUTONOMOUS_DRIVING</b>, 
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<br />
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a6493e00344d165be2532efe8f9a6c12e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6493e00344d165be2532efe8f9a6c12e"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>clear</b> (void)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>failedToConnect</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>queryFirmwareVersion</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>requestFirmwareVersion</b> ()</td></tr>
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virtual void *&#160;</td><td class="memItemRight" valign="bottom"><b>runThread</b> (void *arg)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendAlive</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendGetDelay</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendGetGain</b> (unsigned char transducerNumber)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendGetMask</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendGetMaxRange</b> (unsigned char transducerNumber)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendGetNumThresholdRanges</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendGetThresholds</b> (unsigned char transducerNumber)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendGetTransducerCount</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendReset</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendSetDelay</b> (unsigned char delay)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendSetGain</b> (unsigned char transducerNumber, unsigned char gain)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendSetMask</b> (unsigned char maskLsb, unsigned char maskMsb)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendSetMaxRange</b> (unsigned char transducerNumber, int echoSampleSize)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendSetThresholds</b> (unsigned char transducerNumber, int thres)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendStart</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendStop</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>sensorInterp</b> (void)</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>sonarSetName</b> (const char *name)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>validateDelay</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>validateGain</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>validateMaxRange</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>validateNumThresholdRanges</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>validateThresholds</b> ()</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>validateTransducers</b> ()</td></tr>
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<tr class="inherit_header pro_methods_classArThread"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classArThread')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classArThread.html">ArThread</a></td></tr>
<tr class="memitem:a01417ec8ea06ff5900c6d9352ee02416 inherit pro_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a01417ec8ea06ff5900c6d9352ee02416"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><b>doJoin</b> (void **ret=NULL)</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
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<a class="el" href="classArRetFunctorC.html">ArRetFunctorC</a>&lt; bool, <a class="el" href="classArSonarMTX.html">ArSonarMTX</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myAriaExitCB</b></td></tr>
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unsigned char&#160;</td><td class="memItemRight" valign="bottom"><b>myAutonomousDrivingTransducerMaskLSB</b></td></tr>
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unsigned char&#160;</td><td class="memItemRight" valign="bottom"><b>myAutonomousDrivingTransducerMaskMSB</b></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>myBoardDelay</b></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>myBoardDetectionThreshold</b></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>myBoardGain</b></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>myBoardMaxRange</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myBoardNum</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myBoardUseForAutonomousDriving</b></td></tr>
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<a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myConn</b></td></tr>
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<a class="el" href="classArMutex.html">ArMutex</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myDataMutex</b></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><b>myDefaultPortType</b></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><b>myDefaultTcpPort</b></td></tr>
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<a class="el" href="classArMutex.html">ArMutex</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myDeviceMutex</b></td></tr>
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<a class="el" href="classArCallbackList.html">ArCallbackList</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myDisconnectOnErrorCBList</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myFirmwareVersion</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
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<tr class="memdesc:ae730b583d5a313dd2d0b28a55b831e10 inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the logging level for thread information. <br /></td></tr>
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static ThreadType&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a3f22bf6798bbb1f559d0fcb2dd340fe1">getThisOSThread</a> (void)</td></tr>
<tr class="memdesc:a3f22bf6798bbb1f559d0fcb2dd340fe1 inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the underlying os thread type of this thread. <br /></td></tr>
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static const ThreadType *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a5f07974eaa1f04b40e7e29281063ae32">getThisThread</a> (void)</td></tr>
<tr class="memdesc:a5f07974eaa1f04b40e7e29281063ae32 inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the underlying thread type of this thread. <br /></td></tr>
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static const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a2070e4319d8a11cb025fbeb0fdb36ade">getThisThreadName</a> (void)</td></tr>
<tr class="memdesc:a2070e4319d8a11cb025fbeb0fdb36ade inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the name of the this thread. <br /></td></tr>
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<tr class="memitem:a602608b819fd0d206ece3e7108e897c1 inherit pub_static_methods_classArThread"><td class="memItemLeft" align="right" valign="top">static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a602608b819fd0d206ece3e7108e897c1">init</a> (void)</td></tr>
<tr class="memdesc:a602608b819fd0d206ece3e7108e897c1 inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the internal book keeping structures.  <a href="#a602608b819fd0d206ece3e7108e897c1">More...</a><br /></td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a669ea48142e11e67465cd389be8608db">joinAll</a> (void)</td></tr>
<tr class="memdesc:a669ea48142e11e67465cd389be8608db inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Join on all threads. <br /></td></tr>
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<tr class="memitem:a3deec9c656a29d1a9f33dc52ca05afa9 inherit pub_static_methods_classArThread"><td class="memItemLeft" align="right" valign="top">static ThreadType&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a3deec9c656a29d1a9f33dc52ca05afa9">osSelf</a> (void)</td></tr>
<tr class="memdesc:a3deec9c656a29d1a9f33dc52ca05afa9 inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the os self of the current thread.  <a href="#a3deec9c656a29d1a9f33dc52ca05afa9">More...</a><br /></td></tr>
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<tr class="memitem:a94f5c62be5ea634a63645b09d24618ea inherit pub_static_methods_classArThread"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classArThread.html">ArThread</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a94f5c62be5ea634a63645b09d24618ea">self</a> (void)</td></tr>
<tr class="memdesc:a94f5c62be5ea634a63645b09d24618ea inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the instance of your own thread (the current one)  <a href="#a94f5c62be5ea634a63645b09d24618ea">More...</a><br /></td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#aa8bdbdb6a182a26b083577d341d73025">setLogLevel</a> (<a class="el" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3">ArLog::LogLevel</a> level)</td></tr>
<tr class="memdesc:aa8bdbdb6a182a26b083577d341d73025 inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the logging level for thread information. <br /></td></tr>
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<tr class="memitem:adceb0c14e9674056fc637c95142fdfad inherit pub_static_methods_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adceb0c14e9674056fc637c95142fdfad"></a>
static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#adceb0c14e9674056fc637c95142fdfad">shutdown</a> ()</td></tr>
<tr class="memdesc:adceb0c14e9674056fc637c95142fdfad inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Shuts down and deletes the last remaining thread; call after joinAll. <br /></td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#aeed26f3e82c2f329d8b7286b0c59a75d">stopAll</a> ()</td></tr>
<tr class="memdesc:aeed26f3e82c2f329d8b7286b0c59a75d inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stop all threads. <br /></td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArThread.html#a16d8ee7da5d5ebc2540e38ca1ce2eeb2">yieldProcessor</a> (void)</td></tr>
<tr class="memdesc:a16d8ee7da5d5ebc2540e38ca1ce2eeb2 inherit pub_static_methods_classArThread"><td class="mdescLeft">&#160;</td><td class="mdescRight">Yield the processor to another thread. <br /></td></tr>
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<tr class="inherit_header pro_static_methods_classArThread"><td colspan="2" onclick="javascript:toggleInherit('pro_static_methods_classArThread')"><img src="closed.png" alt="-"/>&#160;Static Protected Member Functions inherited from <a class="el" href="classArThread.html">ArThread</a></td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><b>addThreadToMap</b> (ThreadType pt, <a class="el" href="classArThread.html">ArThread</a> *at)</td></tr>
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static <a class="el" href="classArThread.html">ArThread</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>findThreadInMap</b> (ThreadType t)</td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><b>removeThreadFromMap</b> (ThreadType t)</td></tr>
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<tr class="inherit_header pro_static_attribs_classArThread"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_classArThread')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="classArThread.html">ArThread</a></td></tr>
<tr class="memitem:a9cc8cb8003899d49b3beebb5d150f5cf inherit pro_static_attribs_classArThread"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9cc8cb8003899d49b3beebb5d150f5cf"></a>
static <a class="el" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3">ArLog::LogLevel</a>&#160;</td><td class="memItemRight" valign="bottom"><b>ourLogLevel</b> = <a class="el" href="classArLog.html#ac8cc0fb3aa323ab2a1c21340fdd1dce3a6e80d09c67dad73e9ba736e91ec893be">ArLog::Verbose</a></td></tr>
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static MapType&#160;</td><td class="memItemRight" valign="bottom"><b>ourThreads</b></td></tr>
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static <a class="el" href="classArMutex.html">ArMutex</a>&#160;</td><td class="memItemRight" valign="bottom"><b>ourThreadsMutex</b></td></tr>
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static std::string&#160;</td><td class="memItemRight" valign="bottom"><b>ourUnknownThreadName</b> = &quot;unknown&quot;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Receives sonar data from an MTX robot Use <a class="el" href="classArSonarConnector.html" title="Connect to sonar based on robot parameters and command-line arguments. ">ArSonarConnector</a> to establish the connection and create and initiate the <a class="el" href="classArSonarMTX.html" title="Receives sonar data from an MTX robot Use ArSonarConnector to establish the connection and create and...">ArSonarMTX</a> thread. </p>
<dl class="section since"><dt>Since</dt><dd>2.8.0 </dd></dl>
</div><h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">bool ArSonarMTX::blockingConnect </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>sendTracking</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>recvTracking</em>&#160;</td>
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          <td>)</td>
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<p>MPL added these lines to help someone debug sonar ESD stuff </p>

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          <td class="memname">bool ArSonarMTX::checkLostConnection </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>check for lost connections </p>
<p>This will check if the sonar has lost connection.</p>
<p>If there is no robot it is a straightforward check of last reading time against getConnectionTimeoutSeconds. If there is a robot then it will not start the check until the sonar is running and connected. </p>

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          <td class="memname">void ArSonarMTX::setRobot </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td>
          <td class="paramname"><em>robot</em></td><td>)</td>
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<p>Sets the robot pointer, also attaches its process function to the robot as a Sensor Interpretation task. </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArSonarMTX.h</li>
<li>ArSonarMTX.cpp</li>
</ul>
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